Boom mountable robotic arm

ABSTRACT

A boom mountable robotic arm for temporarily supporting an elongate conductor includes a rigid member such as a beam or beam assembly adapted for mounting onto the upper end of a boom for example using a boom adaptor, at least one electrically insulated support post mounted to the rigid member, where each post temporarily supports an elongate electrical conductor, and at least two rotation devices for selectively controllable rotation of the rigid member and the electrically insulated support posts about at least two corresponding axes of rotation.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a divisional application of U.S. patent application Ser. No.13/555,835 which is a divisional application of U.S. patent applicationSer. No. 12/451,492, now U.S. Pat. No. 8,226,069, which is a NationalPhase entry application from PCT/CA2007/000834 filed May 16, 2007.

FIELD OF THE INVENTION

This application relates to a robotic arm for temporarily supporting andrepositioning energized power lines in general and in particular to arobotic arm having at least one selectively alignable elongate conductorretainer supported thereon.

BACKGROUND OF THE INVENTION

High voltage transmission and distribution lines are typically strungbetween a series of spaced-apart support towers or poles. The conductorsare connected to electrically insulated support posts mounted on orsuspended from crossarms extending at the upper end of transmission ordistribution poles, or conductor support points built into transmissiontowers. Periodically it is necessary to replace or repair the poles ortowers, crossarms and electrically insulated support posts to maintainthe electrical circuit in good working order. It is preferable if thismaintenance and repair work can be performed without de-energizing theconductors in order to avoid an interruption of service to consumers, orto avoid the power company having to purchase power from an alternativesource, or other system disruptions.

Hot line repair work, as it is commonly referred to in the trade, is apotentially hazardous undertaking. Safety regulations require thatlinemen maintain a minimum work clearance or “limit of approach” fromenergized conductors. The limit of approach varies depending upon thevoltage of the conductors in question.

Conventional procedures used by linemen to temporarily support energizedconductors in order to enable repair of damaged or obsolete componentsinvolve the use of insulated wire tongs, lift poles and rope blocks inlabour-intensive, complex rigging arrangements. Conventional fiberglassinsulated tools are limited to use only in good weather. Anyaccumulation of moisture which may impair their insulating propertyrequires that the job be stopped, and that the conductors be placed inan insulator which is rated for all-weather use.

Several auxiliary crossarms have also been proposed in the past fortemporarily supporting conductors, thereby reducing the need forlabour-intensive “stick work” by linemen. For example, U.S. Pat. No.4,973,795, which issued to Sharpe on 27 Nov. 1990, relates to anauxiliary crossarm consisting of an insulated boom fitted with polymerelectrically insulated support posts and conductor hooks for releasablyengaging energized conductors. The Sharpe boom is suspended from a craneabove the transmission lines to be serviced.

Auxiliary crossarms for temporarily lifting and supporting energizedconductors from below are also well known. Such crossarms typically havesleeves which are connectable to the boom jibs of derrick or buckettrucks.

Utility companies often find it convenient to string both transmissionlines and distribution lines on the same pole or tower. The distributionlines are usually suspended between four to twelve feet below thetransmission lines. This makes it very difficult or impossible to safelyraise prior art boom-mounted auxiliary crossarms to a positionimmediately beneath the transmission lines in order to provide temporarysupport to the lower-mounted distribution conductors.

Another limitation of prior art designs was that they did not permitpivotal movement of the auxiliary crossarm relative to the boom of aservice vehicle. A limited range of pivotal movement was desirable toeasily facilitate conductor capture, to enable insertion of the crossarmbetween upper and lower-mounted conductors and to allow for relocationof conductors to different final configurations (such as from triangularto flat spacing and vice versa). The capacity to control pivotalmovement of the crossarm also helps to compensate for the angle,relative to the tower proximate to which the service vehicle is parkedand ensures that the arm can be made level irrespective of the boomangle. Consequently, applicants invented the subject of U.S. Pat. No.5,538,207 which issued Jul. 23, 1996, and which forms part of thepresent specification and which is incorporated by reference also.

A further limitation of prior art boom-mounted auxiliary arms is thatall of the conductors move together as a unit as the truck boom oroverhead crane is adjusted. That is, operators are not able toindependently control the motion of each separate conductor in order tomaximize lineman working clearances or to relocate the conductors to adifferent spacing configuration.

A further limitation of the prior art boom-mounted arms is that thepositional control of the distal ends of the attached electricallyinsulated support posts and therefore position wire holders or otherwire interfaces is determined by the position of the boom and therobotic arm as a whole. This limits the degree to which a distal end ofan insulator may be positioned as the remoteness of the distal end ofthe insulator relative to the adjustor controlling the boom or roboticarm may be great.

Accordingly, the need has arisen for a boom-mountable robotic arm fortemporarily supporting energized conductors which enables the distal endof the insulator for supporting the conductor to be accuratelypositioned independently of the positioning of the boom or robotic arm.

SUMMARY OF THE INVENTION

In summary, the boom mountable robotic arm according to the presentinvention for temporarily supporting an elongate conductor may becharacterized in one aspect as including a rigid member such as a beamor beam assembly adapted for mounting onto the upper end of a boom forexample using a boom adaptor, at least one electrically insulatedsupport post mounted to the rigid member, where each post temporarilysupports an elongate electrical conductor, and at least two rotationdevices or means for selectively controllable rotation of the rigidmember and the electrically insulated support posts about at least twocorresponding axes of rotation. A first axis of rotation of the tworotation devices or means is chosen from the group including:

-   -   a) a substantially vertical axis of rotation orthogonal to the        rigid member for rotation of the rigid member about the        substantially vertical axis in a substantially horizontal plane        and relative to the boom,    -   b) at least one axis of rotation extending along a longitudinal        axis of the rigid member, for rotation of the electrically        insulated support posts relative to and substantially laterally        of the rigid member,    -   c) at least one axis of rotation extending substantially        laterally across the rigid member for rotation of the        electrically insulated support posts relative to and        substantially along the rigid member.

A second axis of rotation of the two rotation devices or means extendslaterally of, and between, the rigid member and the upper end of theboom for rotation of the rigid member relative to the boom in asubstantially vertical plane so as to level the rigid member.

In embodiments employing a boom adaptor, the boom adaptor is mountableto the upper end of the boom. The rigid member may be an elongate upperbeam assembly rotatably mounted to the boom adaptor for rotation of theupper beam assembly about the second axis of rotation relative to theboom adaptor, the upper beam assembly supporting thereon theelectrically insulated support posts and having a conductor retainermounted at a distal end thereof distal from the upper beam assembly.

In a preferred embodiment, the second of the two rotation devices ormeans includes a selectively actuable leveling adjustor mounted betweenthe upper beam assembly and the boom adaptor for selectively adjustingan angular position of the upper beam assembly relative to the boomadaptor.

In one embodiment the first of the two rotation devices or meansincludes an actuator cooperating between the upper beam assembly and theelectrically insulated support posts for selective inclination of theelectrically insulated support posts relative to the upper beamassembly. In a further embodiment the first of the two rotation devicesor means may be a pivotal connection means between the upper beamassembly and the boom adaptor for pivoting of the upper beam assemblyand the electrically insulated support posts mounted thereon relative tothe boom adaptor about the substantially vertical axis of rotation.

In one embodiment the electrically insulated support posts are mountedby a hinge means to the upper beam assembly. For example, in oneembodiment the electrically insulated support posts may be mounted by atleast one hinge to the upper beam assembly along the at least one axisof rotation extending along the longitudinal axis of the upper beamassembly. Alternatively, the electrically insulated support posts may bemounted by at least one hinge to the upper beam assembly along the atleast one axis of rotation extending substantially laterally across theupper beam assembly. The hinges or hinge means may be oriented forrotation relative to the upper beam assembly about a combination oflongitudinal and transverse axes or axes aligned between longitudinaland transverse on a single upper beam assembly as may be useful, orcalled for.

In one embodiment the hinge or hinge means include a hinge plate havinga plurality of bores therein for securing a plurality of electricallyinsulated support posts thereto. In other embodiments, the hinge orhinge means may include a hinge plate having a fastener for securing thehinge plate in an operating position in which the electrically insulatedsupport posts extend perpendicularly away from the upper beam assembly.In one embodiment some or all of the electrically insulated supportposts may include an insulated upright portion and a riser portion,where the riser portion has a first end pivotably connected to the upperbeam assembly and a second end supporting the insulated upright portion,and where the actuator angularly extends from the second end of theriser portion or the distal end of the insulated post to the upper beamassembly.

In the embodiment where the upper beam assembly rotates relative to theboom adaptor about a substantially vertical axis of rotation, the upperbeam assembly and pivotal connection means may further include a basemember and a rotatable member operable to support the electricallyinsulated support posts. The base member may have first and secondspaced apart end connections and an upwardly disposed pivot platformtherebetween. The pivot platform pivotally supports the rotatable memberthereon. Rotation of the rotatable member selectively orients theelectrically insulated support posts relative to the base member.

In an alternative embodiment, one or more interruptible electricalconductors, each having first and second ends, are supported on the endsof a corresponding plurality of electrically insulated support postswhich support the interruptible conductors away from the manipulatorarm. Advantageously one electrically insulated support post may berotatable relative to the upper beam assembly. The selectivelyinterruptible conductors may include a stationary conductor between freedistal ends of first and second electrically insulated support posts anda rotatable conductor extending from the free distal end of the secondpost and being selectively connectable to a distal end of a thirdelectrically insulated support post.

In yet a further embodiment, a base member may be mountable to a distalend of one of the electrically insulated support posts. A pivotablesupport plate is pivotally mounted on the base member. The pivotablesupport plate is adapted for mounting of at least one electricalconductor retainer thereto. The pivotable support plate may be adaptedfor pivotally supporting the electrical conductor retainers thereon forrotation of the electrical conductor retainers relative to the pivotablesupport plate.

Other aspects and features of the present invention will become apparentto those ordinarily skilled in the art upon review of the followingdescription of specific embodiments of the invention in conjunction withthe accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings illustrate embodiments of the invention wherein similarcharacters of reference denote corresponding parts in each view. FIGS.1-6 are views taken from applicant's prior U.S. Pat. No. 5,538,207.

FIG. 1 is an isometric view of a robotic arm mounted on the boom of aservice vehicle for temporarily supporting transmission and distributionconductors extending between transmission towers.

FIG. 2 is a side elevational view of the robotic arm of FIG. 1 with onetelescoping arm retracted and the other telescoping arm extended.

FIG. 3 is a side elevational view of the robotic arm of FIG. 2 with bothtelescoping arms extended.

FIG. 4 is a side elevational view of the robotic arm of FIG. 2illustrating the range of angular motion of the upper frame relative tothe boom.

FIG. 5 is a side elevational view of the robotic arm of FIG. 2 with thetelescoping arms fully retracted to releasably engage three spacedtransmission conductors.

FIG. 6 is a side elevational view of the robotic arm of FIG. 5 with thetelescoping arms extended to increase the spacing between thetransmission conductors, and with the boom of the service vehicleextended to increase the elevation of the conductors.

FIG. 7 is an isometric perspective view of an upper beam assembly of therobotic arm of FIG. 2 having hinge joints for connecting theelectrically insulated support posts according to a first embodiment ofthe present invention.

FIG. 8 is an isometric perspective view of an upper beam assembly ofFIG. 7 showing the hinge joints in the open position.

FIG. 9 is a side elevational view of an upper beam assembly of FIG. 2showing the hinge joints having axes transverse to the upper beamassembly according to a further embodiment of the present invention.

FIG. 10 is a side elevational view of an upper beam assembly of FIG. 9showing the hinge joints in the open position.

FIG. 11 is a side elevational view of a robotic arm of FIG. 2 having anactuator for angularly adjusting the orientation of the electricallyinsulated support post according to further embodiments of the presentinvention.

FIG. 12 is a side elevational view of a robotic arm of FIG. 2 having arotatable upper beam assembly.

FIG. 13 is an isometric perspective view of the base member of thepivotable upper beam assembly of FIG. 12.

FIG. 14 is an isometric perspective view of a robotic arm of FIG. 2supporting an air break switch.

FIG. 15 is an isometric perspective view of the air break switch of FIG.14 in the open position.

FIG. 16 is an isometric perspective view of a pair of electricallyinsulated support posts supporting a pivoting plate for supporting aplurality of elongate conductor retainers.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

Referring to FIG. 1, elongate conductors 11 such as for exampletransmission lines 10 and distribution lines 12 are typically strungbetween a series of spaced-apart support towers or poles 14.Transmission lines 10 and distribution lines 12 are connected toinsulators 16 mounted on crossarms 18 extending at the upper end oftowers 14.

Transmission lines 10 typically transmit electricity between locationsat voltages between 69 and 765 kV as opposed to the lower voltagestypically used for secondary or distribution lines. Such transmissionlines 10 are therefore required to be of a relatively large size and maypresent loads of up to 7500 pounds or more that must be supported by theinsulators 16 and crossarms 18 or by any temporary support device asdescribed further below.

In order to minimize electromagnetic effects, transmission lines 10 areoften strung in a triangular formation with the centre conductorextending above the two outside conductors. Often both transmission anddistribution phases are supported by the same support towers 14. In thiscase, the lower crossarm 18 a supporting the distribution lineconductors 12 may be suspended approximately four to twelve feet belowthe upper crossarm 18 b as illustrated in FIG. 1.

In order to maintain electrical circuits in good working order, thesupport towers 14, insulators 16, and crossarms 18 must be periodicallyreplaced or repaired. It is preferable if the necessary maintenance workcan be completed without the need to de-energize the electrical circuitin question in order to avoid disruption to customers.

The present invention relates to a robotic arm 20 specially adapted forservicing energized electrical circuits. As shown in FIG. 2, robotic arm20 is mountable on the boom 22 of a service vehicle 24 by means of aboom adaptor 26. Boom adaptor 26 preferably consists of an insulatedsleeve, approximately five to six feet in length, which fits tightlyover the upper end of boom 22 and is secured in place with a steelcollar 27. The collar is held in place with a steel pin 27 a and lockedwith a keeper key.

Boom adaptor 26 also preferably includes an insulated fiberglass sectionto electrically isolate robotic arm 20 from the ground. This permits theuse of non-insulated booms 22. As discussed further below, the entirerobotic arm 20 may be shrouded by an insulating material in analternative embodiment.

An upper beam assembly 28, which preferably consists of an elongatedtube, is connected to the end of boom adaptor 26 by means of a pivotjoint 30. As illustrated in FIGS. 2 and 3, boom adaptor 26 is connectedto an end portion of upper beam assembly 28. In an alternativeembodiment, boom adaptor 26 may be connected to a central portion ofupper beam assembly 28.

A used herein, “adjustment means” includes but is not necessarilylimited to an adjustable length leveling actuator 32 which extendsbetween boom adaptor 26 and upper beam assembly 28. Leveling actuator 32adjusts the angular position of upper beam assembly 28 relative to theadaptor 26 within approximately a 40 to 50 degree range of motion A asillustrated in FIG. 4. Extension and retraction of leveling actuator 32is actuated by a hydraulic cylinder 33. Optionally, a polymer insulator35 may also be mounted on leveling actuator 32 as illustrated in FIGS. 2and 3. Leveling actuator 32 is coupled to boom adaptor 26 by means ofcollar 34.

Robotic arm 20 further includes first and second telescoping arms 36, 38which are telescopically coupled to opposite ends of upper beam assembly28. As discussed further below, each telescoping arm 36, 38 isindependently adjustable between a refracted position and an extendedposition coaxial with upper beam assembly 28. As illustrated in FIG. 2,telescoping arm 36 may be retracted while telescoping arm 38 is extendedand visa-versa. Both of telescoping arms 36 and 38 may be extended asillustrated in FIG. 3 or both may be retracted as illustrated in FIGS. 4and 5. Movement of telescoping arms 36, 38 is preferably independentlyactuated by hydraulic cylinders 40 (shown in dotted outline in FIGS. 2and 3) housed within upper beam assembly 28. Alternatively, threadedrods powered by hydraulic, pneumatic or electric motors, worm gears, orother suitable mechanical actuators may also be provided as will beappreciated in the art.

A series, such as the illustrated parallel array of electricallyinsulated support posts 42, are mounted on the upper surface of upperbeam assembly 28 and telescoping arms 36, 38. A conductor retainer 44may be mounted at the upper end 46 of each electrically insulatedsupport post 42 for releasably coupling robotic arm 20 to correspondingenergized conductors, such as for example transmission lines 10.Elongate conductor retainers are know in the art such as for example asdescribed in applicants' U.S. Pat. No. 5,538,207 issued Jul. 23, 1996and incorporated herein by reference. As should be apparent to someoneskilled in the art, the number of electrically insulated support posts42 and elongate conductor retainer 44 required would depend upon thenumber of transmission and/or distribution conductors required to besupported. Further, the length of electrically insulated support posts42, and the coupling together of more than one electrically insulatedsupport post 42, is determined by the mechanical arrangement of theelongate conductors 11 and the voltage level at which they areoperating.

As discussed above, the centre conductor of a three phase transmissionline often extends above the two outside conductors. Accordingly, theelectrically insulated support post 42 mounted on upper beam assembly 28may advantageously be longer in length than the electrically insulatedsupport posts mounted on telescoping arms 36, 38 as illustrated in FIG.3, or consist of two such electrically insulated support posts 42 boltedtogether end-to-end. Polymer insulators 35 and 42 preferably consist ofstation class polymer electrically insulated support posts which arerated for all weather use.

Robotic arm 20 may advantageously be constructed from a nonconductingmaterial such as KEVLAR™ or pultruded fiberglass by way of non-limitingexample rather than structural steel. This would lessen the overallweight of robotic arm 20 and would allow for the use of shorterelectrically insulated support posts 42 and a shorter insulated boomadaptor 26 (since the non-conductive material would contribute to theoverall insulating capacity of arm 20). Shorter electrically insulatedsupport posts 42 are desirable to lessen the overall height of roboticarm 20 which is of particular importance when servicing elongateconductors 11 with underbuild below. A shorter boom adaptor 26 isdesirable so as to more easily keep within the weight bearing rating andcapacity of the truck-mounted boom 22.

Robotic arm 20 should preferably have a lifting capacity of not lessthan 800 lbs per transmission line phase. Smaller, lighter robotic arms20 with less lifting capacity would be suitable for servicing lowervoltage distribution circuits which often consist of lower weightconductors than transmissions circuits.

In operation, robotic arm 20 is first mounted on boom 22 of servicevehicle 24 as described above. The hydraulic hoses (if any) are thenconnected to the auxiliary hydraulic port of service vehicle 24. Servicevehicle 24 is typically parked immediately underneath or adjacent to thesupport tower 14 to be serviced. The truck boom 22 is extended toposition arm 20 underneath the corresponding energized elongateconductors 11 as illustrated for example in FIG. 1. If necessary, boom22 may be rotated about the turret 48 of service vehicle 24 until thedesired angular position is reached.

Depending upon the angle of boom 22 it may be necessary to actuatehydraulic leveling cylinder 33 until the upper beam assembly 28 of arm20 rotates about pivot joint 30 to a position immediately underneath andparallel to crossarm 18. For example, if service vehicle 24 is parked ashort distance away from the bottom of tower 14, then some adjustmentwill be necessary to ensure that upper beam assembly 28 of arm 20 islevel with crossarm 18, irrespective of the angle of truck boom 22. Asshown in FIG. 5, in the level position, electrically insulated supportposts 42 mounted on upper beam assembly 28 and on telescoping arms 36,38 are positioned immediately underneath corresponding elongateconductors 11.

Once boom 22 has been extended to the position shown in FIG. 6, linemenworking on tower 14 may then place each energized elongate conductors 11into a corresponding elongate conductor retainer 44 mounted at the upperend of each electrically insulated support post 42. Each elongateconductor retainer 44 is first positioned proximate to a correspondingelongate conductor 11. Elongate conductor retainer 44 are thenadjustably oriented or aligned by one of the methods described beloweither by rotation relative to the insulated support post 42 or byrotating the insulated support post relative to the upper beam assembly28.

Once elongate conductors 11 are securely captured within a correspondingelongate conductor retainer 44, the lineman manually unties elongateconductors 11 from the insulator 16 mounted on the tower crossarm 18.Elongate conductors 11 may then be raised well above tower 14 byextending boom 22. Additionally, the outside electrically insulatedsupport posts 42 may be extended laterally away from tower 14 byextending telescoping arms 36, 38 as shown in FIG. 6. Extension of eachtelescoping arm 36, 38 is independently controllable by independentactuating hydraulic cylinders 40. The distance between phases may beextended from six feet to for example fourteen or fifteen feet toprovide linemen with safe working clearances even in the case of highvoltage lines, for example greater than 100 kV.

Robotic arm 20 temporarily supports the weight of elongate conductors 11to enable servicing or replacement of conductor support structures, suchas tower 14, insulators 16 or crossarm 18 by the linemen. After therequired line maintenance has been completed, hydraulic cylinders 40 areactuated by the operator to retract telescoping arms 36, 38 and therebyreturn the outer electrically insulated support posts 42 to theiroriginal position. The truck boom 22 may then be lowered, if necessary,until upper beam assembly 28 is positioned slightly below the level ofcrossarm in 18. The elongate conductors 11 are then retied by thelinemen to the tower insulators 16 and the conducting holder latchingmechanism of retainers 44 opened to complete the servicing procedure.

Robotic arm 20 may also find application in providing temporary mid-spansupport for elongate conductors 11 in addition to transmission towerservicing.

As seen in FIG. 11, the electrically insulated support posts 42 includedistal ends 43. In one embodiment posts 42 may be selectively orientedrelative to a portion of the upper beam assembly. According to a firstembodiment of the present invention, the elongate conductor retainers 44may be fixedly secured to upper ends 43 of the electrically insulatedsupport posts 42.

As seen in FIGS. 7 and 8, the electrically insulated support post 42 maybe connected to hinge joints 60 so as to be hinged to the roboticmanipulator arm and in particular upper beam assembly 28 for rotationabout axes 62. The hinge joints may be parallel to the longitudinal axisof the upper beam assembly 28. Alternatively, as illustrated in FIGS. 9and 10, the hinge joints 60 may be hinged to the upper beam assembly 28along axes 64 transverse to the longitudinal axis of the upper beamassembly.

The upper beam assembly 28 may include a hinge mounting bracket 66secured to a top surface thereof. The hinge mounting bracket 66 includesfirst and second spaced apart sets of aligned hinge bores 68 and 70,respectively for passing corresponding pins 72 therethrough. The firstand second sets of hinge bores 68 and 70 are parallel to each other. Ahinge plate 74 having connection bores 76 corresponding to the first andsecond sets of hinge bores 68 and 70 of the hinge mounting bracket 66 issecured to the hinge mounting bracket bypassing corresponding pins 72therethrough. As illustrated, the hinge plate 74 includes a plurality ofmounting bores 78 for securing two electrically insulated support posts42 thereto. It will be appreciated, however, that the hinge plate 74 mayalso be constructed such that it may have one or a plurality ofelectrically insulated support posts 42 secured thereto as well. Thehinge plate 74 may be rotated relative to the hinge mounting bracket 66by removing one of the pins 72 thereby enabling the hinge plate 74 andifs attached electrically insulated support post 42 away from thedecoupled set of bores. Rotation of the electrically insulated supportpost 42 away from their vertically upright positions facilitatestransportation of the robotic arm 20 as well as facilitating theinsertion of the robotic arm through small openings.

As illustrated in FIG. 11, the electrically insulated support post 42may be angularly adjustable relative to the upper beam assembly 28 bymeans of an adjusting actuator such as for example actuators 90 or 104.In the former embodiment, the electrically insulated support post 42 maybe mounted to the top of an axially aligned riser 92. The riser 92includes a first end 94 pivotally connected to the upper beam assembly28 and a second end 96 axially supporting the electrically insulatedsupport post 42. The adjusting actuator 90 angularly extends from thesecond end 94 of the riser 92 to the upper beam assembly 28.

In the alternative latter embodiment, the electrically insulated supportpost 42 may also include an insulated adjusting driver 100 having anelectrically insulated portion 102 and an axially extendable actuatorportion 104. The insulated portion 102 of the insulated adjusting drive100 may be connected to an upper end 43 of the electrically insulatedsupport post 42. The use of an adjusting actuator 90 or 104 according toeither of the above embodiments permits the angular orientation of theelectrically insulated support post 42 to be adjusted relative to theupper beam assembly 28 while maintaining the electrically insulatedstatus of the elongate conductor retainer 44 at a distal end of posts42.

In a further embodiment as illustrated in FIG. 12, the robotic arm mayfurther include a pivotal connection 110 for rotating the upper beamassembly 28 about a vertical axis 121 of rotation relative to the boom22 of the support vehicle. The pivotal connection 110 comprises a basemember 126 which pivotally supports upper beam assembly 28 thereon. Asillustrated in FIG. 13 the base member 126 has first and second spacedapart parallel end connections 112 and 114, respectively and anorthogonally oriented horizontal pivot platform 118 therebetween. Thepivot platform 118 includes a central pivot bore 120 and a plurality ofmounting bores 122 radially spaced around the central pivot bore 120through which pins (not shown) may be passed so as to rotatably fix theupper beam assembly 28 relative thereto. A central pivot such as a pivotpin (not shown) extends downwardly from the upper beam assembly 28 andis received in the central pivot bore 120. A wear plate 124 seen in FIG.12, which may be formed of a wear resistant material, such as,Nylatron™, for example as well as other suitable materials may belocated between the pivot platform 118 and the upper beam assembly 28.

The upper beam assembly 28 may also support an air break switch 130 asillustrated in FIGS. 14 and 15. The air break switch 130 comprises aninterruptible conductor, generally indicated at 138, and a plurality ofelectrically insulated support posts supporting the interruptibleconductor 138 away from the upper beam assembly 28. As illustrated inFIGS. 14 and 15, the air break switch includes first, second and thirdelectrically insulated support posts 132, 134 and 136, respectively. Theinterruptible conductor 138 comprises a stationary conductor portion 140extending between free distal ends 133 and 135 of first and secondelectrically insulated support posts 132 and 134 and a rotatableconductor portion 144 extending from the free distal end 135 of thesecond electrically insulated support posts 134. The rotatable conductorportion 144 is selectively connectable to a distal end 137 of a thirdelectrically insulated support post 136 so as to selectively completethe electrical connection between the distal ends of the first and thirdelectrically insulated support posts. The stationary conductor portion140 includes a first connection point 142 for connection to a firstlocation in an electrical pathway while the third electrically insulatedsupport post includes a second connection point 146 for connection to asecond location in an electrical pathway.

The second electrically insulated support post 134 is rotatablyconnected to the upper beam assembly 28 wherein a motor 148 (shown indotted outline in FIGS. 14 and 15) located within the upper beamassembly 28 may be utilized to rotate the second electrically insulatedsupport post 134 relative to the upper beam assembly 28. As illustrated,the motor 148 is a hydraulic motor, however it will be appreciated thatother motor types may also be utilized. Rotation of the rotatableconductor portion 144 causes the rotatable conductor portion toselectively make or break its contact with the second connection point146 so as to selectively interrupt the electrical pathway. It will alsobe appreciated that although the rotatable conductor portion 144 isillustrated as being rotatable about the second electrically insulatedsupport post 134 in FIGS. 14 and 15, the rotatable conductor portion mayalso be rotatable about the third electrically insulated support post136. In this alternative embodiment rotation of the third electricallyinsulated support post 136 will cause the rotatable conductor portion144 to make or break its electrical connection with the stationaryconductor portion 140.

As illustrated in FIG. 16, two electrically insulated support posts 42are each connected to a union assembly 160 having a to plate 162 and apivoting plate 164 at the upper ends 43 thereof. The top plate 162 isfixedly secured to the upper ends 43 of the electrically insulatedsupport posts 42. It will be appreciated however that the union assemblymay be secured to a single electrically insulated support post 42 ormore than two electrically insulated support posts as well.

The pivoting plate 164 includes a plurality of mounting positions 166for receiving a plurality of elongate conductor retainers 44. Thepivoting plate 164 may have an oval outer surface 170 wherein theplurality of mounting positions 166 may be arranged in an arrayproximate to the outer surface. It will be appreciated that other shapesfor the outer surface 170 of the pivoting plate may also be useful aswell. The mounting positions 166 may each comprise a single mountingbore 78 for pivotally securing the elongate conductor retainer 44thereto. Optionally, the mounting position 166 may include a pluralityof mounting bores arranged to correspond to the mounting bolts or boreson an elongate conductor retainer 44 for fixedly securing the elongateconductor retainer thereto. As illustrated in FIG. 16, the array ofmounting positions 166 are arranged corresponding to the outer surface170, although it will be appreciated other arrays such as radial andrectangular will also be useful. A wear plate 172 which may be formed ofa wear resistant material, such as, Nylatron™, for example as well asother suitable materials is located between the top plate 162 and thepivoting plate 164. Accordingly, a plurality of elongate conductorretainers 44 may be secured to the pivoting plate 164 for selectiveorientation relative to the insulated support post and the upper beamassembly 28.

As will be apparent to those skilled in the art in the light of theforegoing disclosure, many alterations and modifications are possible inthe practice of this invention without departing from the spirit orscope thereof. Accordingly, the scope of the invention is to beconstrued in accordance with the substance defined by the followingclaims.

What is claimed is:
 1. A boom mountable robotic arm for temporarilysupporting energized electrical conductors comprising: a single elongateunitary beam adapted for coupling with an upper end of a boom, at leastone electrically insulated support post coupled to beam adapted totemporarily support at least one energized electrical conductor, a firstrotation coupling that provides selectively controllable rotation ofsaid beam about a first axis of rotation and wherein said first axis ofrotation extends between said beam and the upper end of the boom forrotation of said beam relative to said boom in a substantially verticalplane, wherein said at least one electrically insulated support postincludes at least one conductor retainer for said temporary support ofsaid at least one energized electrical conductor, said at least oneconductor retainer pivotally mounted on said at least one electricallyinsulated support post for rotation about at least one correspondingsecond axis of rotation.
 2. The boom mountable robotic arm of claim 1wherein said at least one conductor retainer is a plurality of conductorretainers pivotally mounted on said at least one electrically insulatedsupport posts for rotation about said second axis of rotation for eachsaid conductor retainer of said plurality of conductor retainers.
 3. Theboom mountable robotic arm of claim 2 wherein said at least oneelectrically insulated support posts is a plurality of electricallyinsulated support posts.
 4. The boom mountable robotic arm of claim 2wherein said at least one electrically insulated support post supportssaid plurality of conductor retainers for pivoting of said plurality ofconductor retainers about said second axis of rotation for each saidconductor retainer.
 5. The boom mountable robotic arm of claim 4 whereinsaid second axis of rotation for each said conductor retainer is single,common axis of rotation.
 6. The boom mountable robotic arm of claim 5wherein said plurality of conductor retainers are mounted on a rotatableplatform, rotatable relative to said beam.
 7. The boom mountable roboticarm of claim 6 wherein said rotatable platform is a rotary table.
 8. Theboom mountable robotic arm of claim 7 wherein said plurality ofelectrically insulated support posts are slidably mounted on said beam,and wherein at least two support posts of said plurality of electricallyinsulated support posts are mounted between said rotary table and saidbeam.
 9. The boom mountable robotic arm of claim 1 wherein said at leastone electrically insulated support post includes first and secondsupport posts having corresponding second and third rotation couplings,said second and third rotation couplings having corresponding,substantially parallel, axes of rotation allowing distal ends of thefirst and second support posts, distal from said beam, to rotate towardsor away from each other.
 10. The boom mountable robotic arm of claim 1further comprising a boom adaptor mountable to said upper end of theboom; and wherein said beam is an upper beam assembly rotatably mountedto said boom adaptor for rotation of said upper beam assembly about saidfirst axis of rotation relative to said boom adaptor, said upper beamassembly supporting thereon said at least two electrically insulatedsupport posts and wherein a conductor retainer is mounted on said distalend thereof; and wherein said first rotation coupling includes aselectively actuable leveling adjustor mounted so as to cooperatebetween said upper beam assembly and said boom adaptor for selectivelyadjusting an angular position of said upper beam assembly relative tosaid boom adaptor.
 11. The boom mountable robotic arm of claim 10wherein said second and third rotation couplings each include arespective actuator cooperating between said upper beam assembly andsaid at least two electrically insulated support posts for selectiveinclination of said at least two electrically insulated support postsrelative to said upper beam assembly.
 12. The boom mountable robotic armof claim 11 wherein each said electrically insulated support postincludes an insulated upright portion and a riser portion, said riserportion having a first end pivotably connected to said upper beamassembly and a second end supporting said insulated upright portion, andwherein each said respective actuator angularly extends from said secondend of said riser portion to said upper beam assembly.
 13. The boommountable robotic arm of claim 11 wherein each said respective actuatorincludes an insulated portion and a lengthwise extendable portion, eachsaid respective actuator angularly extending between a distal end ofsaid insulated support post and said upper beam assembly.
 14. The boommountable robotic arm of claim 1 further including an interruptibleconductor having first and second ends and a plurality of theelectrically insulated support posts supporting said interruptibleconductor away from said upper beam assembly.
 15. The boom mountablerobotic arm of claim 14 wherein said selectively interruptible conductorcomprises a stationary conductor between said distal ends of first andsecond posts of said at least two electrically insulated support postsand a rotatable conductor extending from said distal end of said secondpost and being selectively connectable to a distal end of a third postof said at least two electrically insulated support posts.